阅读说明：本技术 电动助力制动控制方法及其设计仿真方法、设备及介质 (Electric power-assisted brake control method, design simulation method, device and medium thereof ) 是由 魏翼鹰 刘伟 杨寅鹏 史孟颜 邹琳 张晖 赵品 周宸 张亚磊 于 2021-08-30 设计创作，主要内容包括：本申请涉及电动助力制动控制方法及其设计仿真方法、设备及介质,其方法包括：获取永磁同步电机的运行测量数据,并基于电流预测模型,确定永磁同步电机在不同电压矢量下的预测电流；根据永磁同步电机的预测电流和预设的参考电流,确定成本函数；根据成本函数最小原则,确定最优电压矢量并输出至所述永磁同步电机,以使永磁同步电机输出目标制动转矩,并将目标制动转矩传输至液压系统,以使液压系统产生制动压力。本申请对于永磁同步电机的响应速度快,产生的制动力矩也比较稳定,能够有效提高电动助力制动效果。(The application relates to an electric power-assisted brake control method, a design simulation method, equipment and a medium thereof, wherein the method comprises the following steps: obtaining operation measurement data of the permanent magnet synchronous motor, and determining the predicted current of the permanent magnet synchronous motor under different voltage vectors based on a current prediction model; determining a cost function according to the predicted current of the permanent magnet synchronous motor and a preset reference current; and determining an optimal voltage vector according to a cost function minimum principle, outputting the optimal voltage vector to the permanent magnet synchronous motor so that the permanent magnet synchronous motor outputs a target braking torque, and transmitting the target braking torque to a hydraulic system so that the hydraulic system generates braking pressure. The application has the advantages that the response speed of the permanent magnet synchronous motor is high, the generated braking torque is relatively stable, and the electric power-assisted braking effect can be effectively improved.)

1. An electric power-assisted brake control method is applied to an electric power-assisted brake system, the electric power-assisted brake system comprises a hydraulic system and a permanent magnet synchronous motor, and the method is characterized by comprising the following steps:

obtaining operation measurement data of the permanent magnet synchronous motor, and determining the predicted current of the permanent magnet synchronous motor under different voltage vectors based on a current prediction model;

determining a cost function according to the predicted current of the permanent magnet synchronous motor and a preset reference current;

and determining an optimal voltage vector according to a cost function minimum principle, outputting the optimal voltage vector to the permanent magnet synchronous motor so that the permanent magnet synchronous motor outputs a target braking torque, and transmitting the target braking torque to a hydraulic system so that the hydraulic system generates braking pressure.

2. An electric power assisted brake control method according to claim 1, wherein before obtaining operation measurement data of the permanent magnet synchronous motor and determining predicted currents of the permanent magnet synchronous motor at different voltage vectors based on a current prediction model, the method further comprises:

obtaining a pedal force signal, the pedal force signal comprising a reference braking torque;

and determining a reference current of the permanent magnet synchronous motor according to the reference braking torque and a motor motion equation, wherein the motor motion method is represented as follows:

in the formula, T_eIs a reference braking torque; p is a radical of_nIs the number of pole pairs; l is_d、L_qInductors of d-axis stators and q-axis stators of the permanent magnet synchronous motor respectively; psi_iIs a magnetic linkage;the reference currents of d-axis stators and q-axis stators of the permanent magnet synchronous motor.

3. An electric power assisted brake control method according to claim 1, wherein before determining the predicted currents of the permanent magnet synchronous machine at different voltage vectors, the method further comprises: and building a current prediction model of the permanent magnet synchronous motor based on a mathematical model of the permanent magnet synchronous motor under a synchronous rotation coordinate system.

4. The electric power assisted brake control of claim 3The manufacturing method is characterized in that the current prediction model specifically comprises the following steps:

in the formula (I), the compound is shown in the specification,respectively predicting values of d-axis stator current components and q-axis stator current components of the permanent magnet synchronous motor at the moment of k + 1;respectively measuring the current components of d-axis and q-axis stators of the permanent magnet synchronous motor at the moment k;respectively measuring the voltage components of the d-axis stator shaft and the q-axis stator shaft of the permanent magnet synchronous motor at the moment k; t is_sRepresents a control period; omega^kRepresenting a rotor angular velocity measurement.

5. An electric power assisted brake control method according to claim 1, characterized in that the cost function is in particular:

wherein J represents a cost function,the predicted current at the k +1 th moment of the permanent magnet synchronous motor is represented; i.e. i_d ^*、i_q ^*Representing the reference current of the permanent magnet synchronous machine.

6. An electric power-assisted brake design simulation method, which applies the electric power-assisted brake control method of any one of claims 1 to 5, wherein the simulation method comprises:

building a prediction control model based on the electric power-assisted brake control method;

building an electric power-assisted braking system simulation model based on a permanent magnet synchronous motor;

building a target simulation vehicle model according to vehicle parameters of a target vehicle;

performing online joint simulation: inputting pedal force in an electric power-assisted brake system simulation model to output a reference brake torque; and transmitting the reference braking torque to the prediction control model through a joint simulation interface, outputting a target braking torque by the prediction control model, transmitting the target braking torque to the electric power-assisted braking system simulation model through the joint simulation interface, performing hydraulic braking simulation on the electric power-assisted braking system simulation model to output four brake wheel cylinder pressure signals, and transmitting the four brake wheel cylinder pressure signals to the target simulation vehicle model through the joint simulation interface to complete a braking simulation test.

7. The electric power-assisted brake design simulation method according to claim 6, wherein the predictive control model is built on simulation analysis software; building a simulation model of the electric power-assisted control system on engineering design software; and building the target simulation vehicle model in vehicle dynamics software.

8. The electric power assisted brake design simulation method of claim 7, wherein after transmitting the four brake cylinder pressure signals to the target simulated vehicle model through a joint simulation interface to complete a brake simulation test, the simulation method further comprises:

acquiring simulation test information of a target simulation vehicle model, wherein the simulation test information comprises braking time, braking distance and braking deceleration of the target simulation vehicle model;

and drawing a braking effect curve according to the braking time, the braking distance and the braking deceleration.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the electric power assisted brake control method according to any one of claims 1 to 5 or the steps of the electric power assisted brake design simulation method according to any one of claims 6 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the steps of the electric power-assisted brake control method according to any one of claims 1 to 5 or the steps of the electric power-assisted brake design simulation method according to any one of claims 6 to 8.

Technical Field

The application relates to the technical field of automobile braking, in particular to an electric power-assisted braking control method, a design simulation method, equipment and a medium thereof.

Background

With the rapid development of the electronic control technology of automobiles, automobiles are also developed towards 'electromotion, intellectualization, networking and sharing'. Therefore, new demands are made on the brake system of the automobile.

The traditional fuel oil automobile adopts a braking system which consists of a vacuum booster, a brake master cylinder and a brake wheel cylinder. In the running process of the automobile, the vacuum is extracted through the engine to achieve the effect of vacuum boosting, in recent years, the driving force of the automobile is not provided by starting, but provided by the storage battery and the driving motor, so that the vacuum booster loses a vacuum source, and the vacuum booster loses functions. In order to replace a vacuum booster, in recent years, a permanent magnet synchronous motor is adopted by many electric automobiles to replace the vacuum degree of the vacuum booster to provide boosting for a braking system of the automobile, the Permanent Magnet Synchronous Motor (PMSM) adopts permanent magnet excitation instead of an excitation winding, so that excitation current loss is avoided, the efficiency is high, the rotor heating is small, the PMSM volume is smaller and the weight is lighter under the same power level, the torque inertia of the rotor is high, the dynamic response is fast, and the requirements of the new era on the braking system are met.

The electric power-assisted brake system based on the permanent magnet synchronous motor adopts the traditional PID control, although the traditional PID control can meet the basic brake effect, the electric power-assisted brake system is slightly insufficient in the aspects of brake efficiency and stability, and needs to be further improved.

Disclosure of Invention

In view of this, the present application provides an electric power-assisted brake control method, and a design simulation method, device and medium thereof, so as to solve the technical problem of how to improve the braking efficiency and stability of the electric power-assisted brake control system.

In order to solve the above problem, in a first aspect, the present application provides an electric power-assisted brake control method applied to an electric power-assisted brake system including a hydraulic system and a permanent magnet synchronous motor, the method including:

obtaining operation measurement data of the permanent magnet synchronous motor, and determining the predicted current of the permanent magnet synchronous motor under different voltage vectors based on a current prediction model;

determining a cost function according to the predicted current of the permanent magnet synchronous motor and a preset reference current;

and determining an optimal voltage vector according to a cost function minimum principle, outputting the optimal voltage vector to the permanent magnet synchronous motor so that the permanent magnet synchronous motor outputs a target braking torque, and transmitting the target braking torque to a hydraulic system so that the hydraulic system generates braking pressure.

Optionally, before obtaining operation measurement data of the permanent magnet synchronous motor and determining a predicted current of the permanent magnet synchronous motor under different voltage vectors based on the current prediction model, the method further includes:

obtaining a pedal force signal, the pedal force signal comprising a reference braking torque;

and determining a reference current of the permanent magnet synchronous motor according to the reference braking torque and a motor motion equation, wherein the motor motion method is represented as follows:

in the formula, T_eIs a reference braking torque; p is a radical of_nIs the number of pole pairs; l is_d、L_qAre respectively d and q axes of the permanent magnet synchronous motorThe inductance of the stator; psi_iIs a magnetic linkage;the reference currents of d-axis stators and q-axis stators of the permanent magnet synchronous motor.

Optionally, before determining the predicted current of the permanent magnet synchronous motor under different voltage vectors, the method further includes: and building a current prediction model of the permanent magnet synchronous motor based on a mathematical model of the permanent magnet synchronous motor under a synchronous rotation coordinate system.

Optionally, the current prediction model specifically includes:

in the formula (I), the compound is shown in the specification,respectively predicting values of d-axis stator current components and q-axis stator current components of the permanent magnet synchronous motor at the moment of k + 1;respectively measuring the current components of d-axis and q-axis stators of the permanent magnet synchronous motor at the moment k;respectively measuring the voltage components of the d-axis stator shaft and the q-axis stator shaft of the permanent magnet synchronous motor at the moment k; t is_sRepresents a control period; omega^kRepresenting a rotor angular velocity measurement.

Optionally, the cost function is specifically:

wherein J represents a cost function,the predicted current at the k +1 th moment of the permanent magnet synchronous motor is represented; i.e. i_d ^*、i_q ^*Representing the reference current of the permanent magnet synchronous machine.

In a second aspect, the present application provides an electric power-assisted brake design simulation method, to which the electric power-assisted brake control method is applied, the simulation method including:

building a prediction control model based on the electric power-assisted brake control method;

building an electric power-assisted braking system simulation model based on a permanent magnet synchronous motor;

building a target simulation vehicle model according to vehicle parameters of a target vehicle;

performing online joint simulation: inputting pedal force in an electric power-assisted brake system simulation model to output a reference brake torque; and transmitting the reference braking torque to the prediction control model through a joint simulation interface, outputting a target braking torque by the prediction control model, transmitting the target braking torque to the electric power-assisted braking system simulation model through the joint simulation interface, performing hydraulic braking simulation on the electric power-assisted braking system simulation model to output four brake wheel cylinder pressure signals, and transmitting the four brake wheel cylinder pressure signals to the target simulation vehicle model through the joint simulation interface to complete a braking simulation test.

Optionally, the predictive control model is built on simulation analysis software; building a simulation model of the electric power-assisted control system on engineering design software; and building the target simulation vehicle model in vehicle dynamics software.

Optionally, after the four brake wheel cylinder pressure signals are transmitted to the target simulated vehicle model through a joint simulation interface to complete a brake simulation test, the simulation method further includes:

acquiring simulation test information of a target simulation vehicle model, wherein the simulation test information comprises braking time, braking distance and braking deceleration of the target simulation vehicle model;

and drawing a braking effect curve according to the braking time, the braking distance and the braking deceleration.

In a third aspect, the present application provides a computer device, which adopts the following technical solution:

a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the electric power assisted brake control method or the electric power assisted brake design simulation method when executing the computer program.

In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:

a computer-readable storage medium, storing a computer program which, when executed by a processor, implements the steps of the electric power-assisted brake control method or the electric power-assisted brake design simulation method.

The beneficial effects of adopting the above embodiment are: predicting the predicted current of the permanent magnet synchronous motor at the next sampling time of different voltage vectors through a current prediction model according to the operation measurement data of the permanent magnet synchronous motor, and determining a cost function according to the predicted current of the permanent magnet synchronous motor and a preset reference current, so that the error between the predicted current and the reference current can be conveniently judged, and the cyclic optimization is conveniently carried out; determining an optimal voltage vector according to a cost function minimum principle, outputting the optimal voltage vector to the permanent magnet synchronous motor so that the permanent magnet synchronous motor outputs a target braking torque, and transmitting the target braking torque to a hydraulic system so that the hydraulic system generates braking pressure; the model predictive control of the embodiment has high response speed to the permanent magnet synchronous motor, the generated braking torque is relatively stable, and the electric power-assisted braking effect can be effectively improved.

Drawings

Fig. 1 is a schematic view of an application scenario of an electric power-assisted brake control method provided in the present application;

FIG. 2 is a flowchart of a method of one embodiment of step S101 provided herein;

FIG. 3 is a schematic diagram of a predictive control process for a permanent magnet synchronous machine as provided herein;

FIG. 4 is a flowchart of an embodiment of a method for simulating an electric power-assisted brake design provided herein;

FIG. 5 is a schematic block diagram of an embodiment of a computer device provided herein.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the application and together with the description, serve to explain the principles of the application and not to limit the scope of the application.

In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1, a flowchart of an embodiment of an electric power-assisted brake control method provided by the present application is shown, the electric power-assisted brake control method is applied to an electric power-assisted brake system, the electric power-assisted brake system includes a hydraulic system and a motor, and the method includes the following steps:

s101, obtaining operation measurement data of the permanent magnet synchronous motor, and determining the predicted current of the permanent magnet synchronous motor under different voltage vectors based on a current prediction model;

s102, determining a cost function according to the predicted current of the permanent magnet synchronous motor and a preset reference current;

s103, according to the cost function minimum principle, determining an optimal voltage vector and outputting the optimal voltage vector to the permanent magnet synchronous motor so that the permanent magnet synchronous motor outputs a target braking torque, and transmitting the target braking torque to a hydraulic system so that the hydraulic system generates braking pressure.

In this embodiment, the predicted current of the permanent magnet synchronous motor at the next sampling time of different voltage vectors is predicted through the current prediction model according to the operation measurement data of the permanent magnet synchronous motor, and the cost function can be determined according to the predicted current of the permanent magnet synchronous motor and the preset reference current, so that the error between the predicted current and the reference current can be conveniently judged, and the cyclic optimization is conveniently carried out; determining an optimal voltage vector according to a cost function minimum principle, outputting the optimal voltage vector to the permanent magnet synchronous motor so that the permanent magnet synchronous motor outputs a target braking torque, and transmitting the target braking torque to a hydraulic system so that the hydraulic system generates braking pressure; the model predictive control of the embodiment has high response speed to the permanent magnet synchronous motor, and the generated braking torque is relatively stable.

In this embodiment, the operation measurement data of the permanent magnet synchronous motor includes measurement values of d-axis and q-axis stator current components of the permanent magnet synchronous motor, measurement values of d-axis and q-axis stator voltage components of the permanent magnet synchronous motor, measurement values of rotor angular velocity, and the like.

In an embodiment, referring to fig. 2, before obtaining operation measurement data of the permanent magnet synchronous motor in step S101 and determining a predicted current of the permanent magnet synchronous motor under different voltage vectors based on the current prediction model, the electric power assisted brake control method of the embodiment further includes:

s201, obtaining a pedal force signal, wherein the pedal force signal comprises a reference braking torque;

s202, determining the reference current of the permanent magnet synchronous motor according to the reference braking torque and the motor motion equation, wherein the motor motion method is expressed as follows:

in the formula, T_eIs a reference braking torque; p is a radical of_nIs the number of pole pairs; l is_d、L_qInductors of d-axis stators and q-axis stators of the permanent magnet synchronous motor respectively; psi_iIs a magnetic linkage;the reference currents of d-axis stators and q-axis stators of the permanent magnet synchronous motor.

In this embodiment, the pedal force signal refers to a reference braking torque output by the spring damping system through the pedal force of the brake pedal of the automobile, and the reference braking torque needs to be further optimized to output a target braking torque required by the permanent magnet synchronous motor, which is specifically described in the following steps.

In the current loop control mode, in order to obtain the maximum torque current ratio, the d-axis current control of the permanent magnet synchronous motor is set to 0 by default, and therefore, the d-axis current control is set to 0

In an embodiment, before determining the predicted currents of the permanent magnet synchronous motor under different voltage vectors in step S101, the electric power assisted brake control method of this embodiment further includes: and building a current prediction model of the permanent magnet synchronous motor based on a mathematical model of the permanent magnet synchronous motor under a synchronous rotation coordinate system.

Specifically, a mathematical model of the permanent magnet synchronous motor under a synchronous rotation coordinate system is built:

in the formula u_d、u_qD-axis and q-axis stator voltage components, i, of the PMSM, respectively_d、i_qD-axis and q-axis stator current components, psi, of the PMSM, respectively_d、ψ_qAre respectively d-axis and q-axis stator flux linkage components, R of the permanent magnet synchronous motor_sRepresenting the phase resistance of the permanent magnet synchronous machine. The synchronous rotation coordinate system is a coordinate system established by d-axis and q-axis rotation axes of the permanent magnet synchronous motor.

Under a synchronous rotating coordinate system, the stator flux linkage equation of the three-phase stator winding is as follows:

in the formula, #_fThe permanent magnet flux linkage is shown.

Establishing a prediction model based on a mathematical model of the permanent magnet synchronous motor:

further, according to a first-order euler formula, the two formulas are dispersed to obtain a specific current prediction model as follows:

in the formula (I), the compound is shown in the specification,respectively predicting values of d-axis stator current components and q-axis stator current components of the permanent magnet synchronous motor at the moment of k + 1;respectively measuring the current components of d-axis and q-axis stators of the permanent magnet synchronous motor at the moment k;respectively measuring the voltage components of the d-axis stator shaft and the q-axis stator shaft of the permanent magnet synchronous motor at the moment k; t is_sRepresents a control period; omega^kRepresenting a rotor angular velocity measurement.

In an embodiment, in step S102, the cost function is specifically:

wherein J represents a cost function,the predicted current at the k +1 th moment of the permanent magnet synchronous motor is represented; i.e. i_d ^*、i_q ^*Representing the reference current of the permanent magnet synchronous machine.

It should be noted that the cost function represents the real-time error between the predicted current and the reference current for each voltage vector.

Referring to the predictive control process shown in fig. 3, through cyclic optimization and according to the principle of minimum cost function, when the cost function reaches a threshold value, the error between the predicted current and the reference current is minimum, the voltage vector at the time is determined to be an optimal voltage vector, the optimal voltage vector is output to the power inverter and then is output to the permanent magnet synchronous motor, so that the permanent magnet synchronous motor outputs a target braking torque, and the target braking torque is transmitted to the hydraulic system, so that the hydraulic system generates braking pressure.

Different from the prior art, the embodiment predicts the predicted current of the permanent magnet synchronous motor at the next sampling time of different voltage vectors according to the operation measurement data of the permanent magnet synchronous motor through a current prediction model, and can determine a cost function according to the predicted current of the permanent magnet synchronous motor and a preset reference current, so that the error between the predicted current and the reference current can be conveniently judged, and the cyclic optimization is conveniently carried out; determining an optimal voltage vector according to a cost function minimum principle, outputting the optimal voltage vector to the permanent magnet synchronous motor so that the permanent magnet synchronous motor outputs a target braking torque, and transmitting the target braking torque to a hydraulic system so that the hydraulic system generates braking pressure; the model predictive control of the embodiment has high response speed to the permanent magnet synchronous motor, and the generated braking torque is relatively stable.

Referring to fig. 4, the present application further provides an electric power-assisted brake design simulation method, and applies the electric power-assisted brake control method of the present embodiment, where the electric power-assisted brake design simulation method includes the following steps:

s401, building a prediction control model based on an electric power-assisted brake control method;

in one embodiment, a prediction control model is built on simulation analysis software, and specifically, modeling and simulation verification can be performed on a Matlab/Simulink simulation platform;

s402, building an electric power-assisted brake system simulation model based on the permanent magnet synchronous motor;

in one embodiment, an electric power-assisted control system simulation model is built on engineering design software, and specifically, an electric power-assisted brake system simulation model can be built in Amesim advanced engineering system modeling software;

s403, building a target simulation vehicle model according to the vehicle parameters of the target vehicle;

in one embodiment, a target simulation vehicle model is built in vehicle dynamics software, and specifically, a simulation vehicle model and a simulation working condition of a target vehicle can be built in Carsim vehicle dynamics software to realize online simulation.

S404, online joint simulation: inputting pedal force in an electric power-assisted brake system simulation model to output a reference brake torque; and transmitting the reference braking torque to the prediction control model through the joint simulation interface, outputting a target braking torque by the prediction control model, transmitting the target braking torque to the electric power-assisted braking system simulation model through the joint simulation interface, performing hydraulic braking simulation on the electric power-assisted braking system simulation model to output four braking wheel cylinder pressure signals, and transmitting the four braking wheel cylinder pressure signals to the target simulation vehicle model through the joint simulation interface to complete a braking simulation test.

It should be noted that an electric power-assisted brake system model can be built in an Amesim advanced engineering system modeling software in a physical model graphical modeling mode, an Amesim platform interface mainly comprises a sketch, a submodel, parameters and a simulation part, and the electric power-assisted brake system model is built according to the following steps:

the method comprises the following steps: the method comprises the steps of establishing a pedal, spring damping, a ball screw, a brake master cylinder, a hydraulic regulation model, a brake wheel cylinder and the like of the electric power-assisted brake system in a sketch, connecting the model components together, omitting a traditional vacuum booster, replacing the traditional vacuum booster with a permanent magnet synchronous motor, and performing model prediction control through Simulink.

Step two: on the basis of the step one, modules such as mass, spring and damping in a mechanical library are selected to form a spring damping and ball screw system under an Amesim sub-model interface, and modules such as a cylinder body and a pipeline in a hydraulic library form a brake master cylinder, a brake wheel cylinder and the like.

Step three: after the sub-models are selected, specific parameters of each module of the electric power-assisted brake system, such as the weight and the diameter of a brake wheel cylinder piston, the quality of liquid, the viscosity and other parameters, are written and determined in the parameter models.

Step four: and establishing an IO interface of Amesim-Simulink joint simulation, and transmitting simulation data of Amesim to Simulink to realize joint simulation under the Amesim simulation interface.

In this embodiment, Carsim is used as vehicle dynamics software, the Carsim software library includes each component of the vehicle, and parameters of each component can be adjusted according to actual needs, so that convenience is provided; the steps of building a target simulation vehicle model in the embodiment are as follows:

the method comprises the following steps: relevant vehicle parameters required by design of a Carsim preprocessing part are set up according to actual braking conditions.

Step two: an IO interface of the Carsim-Simulink joint simulation is established in the Carsim processing part, and then the data in the Carsim can be transmitted to the Simulink to realize the joint simulation.

In this embodiment, the specific process of online joint simulation is as follows: inputting pedal force into a pedal module in an electric power-assisted brake system simulation model of Amesim software, outputting reference brake torque through a sensor, transmitting the reference brake torque to a prediction control model through an Amesim-Simulink combined simulation IO interface, controlling a permanent magnet synchronous motor to output target brake torque required by the electric power-assisted brake system simulation model through model prediction control, transmitting the target brake torque to a ball screw of the electric power-assisted brake system simulation model through the Amesim-Simulink combined simulation IO interface, converting rotary motion into linear motion through the ball screw to enable a brake master cylinder to generate brake master cylinder pressure, distributing the brake master cylinder to four brake cylinders through a hydraulic system, outputting pressure signals of the four brake cylinders to Simulink through the Amesim-Simulink combined simulation IO interface, and then passing through the Simulink-Carsim combined simulation interface, and inputting the pressure of the brake wheel cylinder into a target simulation vehicle model of Carsim, thereby forming a complete electric power-assisted brake simulation.

In one embodiment, after the four brake wheel cylinder pressure signals are transmitted to the target simulated vehicle model through the joint simulation interface to complete the brake simulation test, the electric power assisted brake design simulation method further includes:

acquiring simulation test information of the target simulation vehicle model, wherein the simulation test information comprises the braking time, the braking distance and the braking deceleration of the target simulation vehicle model;

and drawing a braking effect curve according to the braking time, the braking distance and the braking deceleration.

Specifically, 3D animation is realized through a post-processing part of Carsim software, and the braking effect and data curve change of the vehicle are visually observed through the animation, and the braking time, the braking distance and the braking deceleration are specifically observed.

In the embodiment, an electric power-assisted brake system simulation model, a prediction control model and a target simulation vehicle model are respectively built through three software platforms, Amesim software and Carsim software can be respectively provided with an IO port for transmitting data with Simulink software, and data interaction is carried out through the IO port to realize joint simulation. The result of the combined simulation can be observed in a post-processing part of Carsim, so that model prediction control of the electric power-assisted brake system and establishment of a combined simulation platform are completed, a researcher can conveniently perform simulation experiments, research and development time is shortened, cost is saved, and design processes are reduced.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

The embodiment also provides an electric power-assisted brake control system, and the electric power-assisted brake control system corresponds to the electric power-assisted brake control method in the embodiment one to one. The electric power-assisted brake control system comprises a data acquisition module, a cost determination module and an optimization module. The functional modules are explained in detail as follows:

the data acquisition module is used for acquiring operation measurement data of the permanent magnet synchronous motor and determining the predicted current of the permanent magnet synchronous motor under different voltage vectors based on a current prediction model;

the cost determination module is used for determining a cost function according to the predicted current of the permanent magnet synchronous motor and a preset reference current;

and the optimization module is used for determining an optimal voltage vector according to the cost function minimum principle and outputting the optimal voltage vector to the permanent magnet synchronous motor so that the permanent magnet synchronous motor outputs a target braking torque and transmits the target braking torque to the hydraulic system so that the hydraulic system generates braking pressure.

For specific limitations of each module of the electric power-assisted brake control system, reference may be made to the above limitations of the electric power-assisted brake control method, which are not described herein again. The modules in the electric power-assisted brake control system can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

Referring to fig. 5, the present embodiment further provides a computer device, which may be a computing device such as a mobile terminal, a desktop computer, a notebook, a palmtop computer, and a server. The computer device comprises a processor 10, a memory 20 and a display 30. FIG. 5 shows only some of the components of a computer device, but it is to be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.

The storage 20 may in some embodiments be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. The memory 20 may also be an external storage device of the computer device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the computer device. Further, the memory 20 may also include both an internal storage unit and an external storage device of the computer device. The memory 20 is used for storing application software installed in the computer device and various data, such as program codes installed in the computer device. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 20 has stored thereon a computer program 40.

The processor 10 may be a Central Processing Unit (CPU), a microprocessor or other data Processing chip in some embodiments, and is used to execute program codes stored in the memory 20 or process data, such as executing the electric power-assisted brake control method or the electric power-assisted brake design simulation method.

The display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch panel, or the like in some embodiments. The display 30 is used for displaying information at the computer device and for displaying a visual user interface. The components 10-30 of the computer device communicate with each other via a system bus.

In an embodiment, the steps of the electric power brake control method or the electric power brake design simulation method are implemented when the processor 10 executes the computer program 40 in the memory 20.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the electric power-assisted brake control method or the electric power-assisted brake design simulation method.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above.

Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application.